/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "dma.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "ble.h"
#include "oled.h"
#include "motor.h"
#include "encoder.h"
#include "pid.h"
#include "tim_self.h"

#include <stdbool.h>
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */


/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_USART1_UART_Init();
  MX_I2C1_Init();
  MX_TIM4_Init();
  MX_TIM1_Init();
  MX_TIM2_Init();
  MX_TIM3_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */

	//1.电机
	Motor_init();
	Encoder_Init();
	
	//2.串口
	ble_Init();	
	
	//3.oled
	oled_Init();
	
	//4.任务计时器
	tim3_init();
  while (1)
  {

		// 任务: 每1ms运行一次速度环PID计算 1kHz
		if(task_flags.run_pid_inc_loop){
			HAL_GPIO_TogglePin(GPIOB,GPIO_PIN_11);
			pid_speed_task();
			task_flags.run_pid_inc_loop=false;
			//23us
			HAL_GPIO_TogglePin(GPIOB,GPIO_PIN_11);
		}
		
		// 任务: 每100ms运行一次角度环PID计算 100Hz
		if(task_flags.run_pid_pos_loop){
			HAL_GPIO_TogglePin(GPIOB,GPIO_PIN_10);
			#if pid_debug_pos_inc
			#else
			pid_angle_task();
			#endif
			task_flags.run_pid_pos_loop=false;
			//11us
			HAL_GPIO_TogglePin(GPIOB,GPIO_PIN_10);
			
		}
		
		// 任务: 每200ms更新一次OLED显存 (5Hz)
		if(0 && task_flags.update_oled){
			HAL_GPIO_TogglePin(GPIOB,GPIO_PIN_12);
			oled_showString(0,0,uart1_buf,16,1);
			#if 1
				pid_inc *pid_t=&pid_speed;
				#else
				pid_pos *pid_t=&pid_angle;
			#endif
			
			oled_showFloat(0,16,pid_t->Kp,2,2,16,1);
			oled_showFloat(7*8,16,pid_t->Ki,2,2,16,1);
			oled_showFloat(0,32,pid_t->Kd,2,2,16,1);
			oled_showFloat(7*8,32,pid_t->target,3,1,16,1);
			oled_showFloat(0,48,pid_t->now,3,1,16,1);
			oled_showFloat(7*8,48,pid_t->output,3,1,16,1);
			
			oled_refresh();
			task_flags.update_oled=false;
			//2.351ms
			HAL_GPIO_TogglePin(GPIOB,GPIO_PIN_12);
		}

		//任务:每2秒变一次target
		if(task_flags.change_target){
			//pid_angle.target=-pid_angle.target;
			task_flags.change_target=false;
		}
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }

  /** Enables the Clock Security System
  */
  HAL_RCC_EnableCSS();
}

/* USER CODE BEGIN 4 */
// main.c

/* USER CODE BEGIN 4 */


/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
